Mixed Autonomous/Teleoperation Control of Asymmetric Robotic Systems

2014 ◽  
Vol 2 (1) ◽  
pp. 35-60
Author(s):  
Pawel Malysz ◽  
Shahin Sirouspour
Keyword(s):  
System Design ◽  
Control Strategy ◽  
Autonomous Control ◽  
Robotic Systems ◽  
System Configuration ◽  
Unified Framework ◽  
Human In The Loop ◽  
Force Tracking ◽  
High Level ◽  
And Control

This paper presents a unified framework for system design and control in human-in-the-loop asymmetric robotic systems. It introduces a highly general teleoperation system configuration involving any number of operators, haptic interfaces, and robots with possibly different degrees of mobility. The proposed framework allows for mixed teleoperation/autonomous control of user-defined subtasks by establishing position/force tracking as well as kinematic constraints among relevant teleoperation control frames. The control strategy is hierarchical comprising of a high-level teleoperation coordinating controller and low-level joint velocity controllers. The approach utilizes idempotent, generalized pseudoinverse and weighting matrices in order to achieve new performance objectives that are defined for such asymmetric semi-autonomous teleoperation systems. Three layers of velocity-based autonomous control at different priority levels with respect to human teleoperation are integrated into the framework. A detailed analysis of system performance and stability is presented. Experimental results with a single-master/dual-slave system configuration demonstrate an application of the proposed system design and control strategy.

scholarly journals Special Issue on Wearable Robotics: Dynamics, Control and Applications

Robotica ◽  
2019 ◽  
Vol 37 (12) ◽  
pp. 2011-2013
Author(s):  
Qining Wang ◽  
Nicola Vitiello ◽  
Samer Mohammed ◽  
Sunil Agrawal
Keyword(s):  
Real World ◽  
Human Motion ◽  
Robotic Systems ◽  
Loop Optimization ◽  
Human In The Loop ◽  
Wearable Robots ◽  
Real World Applications ◽  
Robot Systems ◽  
And Control ◽  
Human Robot Interfaces

While initially conceived for human motion augmentation, wearable robots have gradually evolved as technological aids in motion assistance and rehabilitation. There are increasing real-world applications in industrial and medical scenarios. Though efforts have been made on wearable robotic systems, e.g. robotic prostheses and exoskeletons, there are still several challenges in kinematics and actuation solutions, dynamic analysis and control of human-robot systems, neuro-control and human-robot interfaces; ergonomics and human-in-the-loop optimization. Meanwhile, real-world applications in industrial or medical scenarios are facing difficulties considering effectiveness.

Dynamic Stability Analysis of High-Level Order-Picking Truck

2011 ◽  
Vol 101-102 ◽  
pp. 418-421
Author(s):  
Yi Qiang Wang ◽  
Chao Fu ◽  
Wei Luo
Keyword(s):  
Stability Analysis ◽  
Dynamic Stability ◽  
Control Strategy ◽  
Order Picking ◽  
Prototype Model ◽  
Quality And Safety ◽  
Operation Efficiency ◽  
High Level ◽  
And Control ◽  
Level Order

More and more high-level order-picking trucks are used to pick and transport goods in warehouses. The dynamic stability of the truck has great effect on operation efficiency, quality and safety. It is instructive and meaningful for the optimization of structure and control strategy to analyze the dynamic stability of the truck. Firstly, the dynamic model of the order-picking truck is established using Alembert principle, and then the dynamic stability of the truck is analyzed. Secondly, the virtual prototype model of the truck is established and traveling process is simulated. The simulation further verifies the dynamic stability of the truck.

Switched Control Strategy for Networked System with Multi-Rate Input Sampling

2011 ◽  
Vol 128-129 ◽  
pp. 1070-1074
Author(s):  
Dong Song Luo ◽  
Li Zhou
Keyword(s):  
Control Strategy ◽  
Control Algorithm ◽  
Networked Control System ◽  
System Configuration ◽  
Sampling System ◽  
Lifting Technique ◽  
Communication Capacity ◽  
Switched Control ◽  
The Stability ◽  
And Control

In this paper, control problem of networked control system with multi-rate input sampling is considered. By lifting technique, the system is transformed into a single-rate sampling system. Channel transmission strategies for both output and input channel are presented in view of the limited communication capacity. Such strategies lead to a switched system configuration. Then, switched control strategy is implemented and control algorithm that guarantees the stability of the systems is presented.

Model-Based Design and Optimization for Large Bore Engines: Some Industrial Case Studies

2020 ◽  
Vol 142 (10) ◽  
Author(s):  
Prashant Srinivasan ◽  
Sanketh Bhat ◽  
Manthram Sivasubramaniam ◽  
Ravi Methekar ◽  
Maruthi Devarakonda ◽  
...  
Keyword(s):  
System Design ◽  
Case Studies ◽  
Control Strategy ◽  
Cost Optimization ◽  
Engine Performance ◽  
Design And Optimization ◽  
Model Based ◽  
Performance Requirements ◽  
Engine Design ◽  
And Control

Abstract Large bore reciprocating internal combustion (IC) engines are used in a wide variety of applications such as power generation, transportation, gas compression, mechanical drives, and mining. Each application has its own unique requirements that influence the engine design and control strategy. The system architecture and control strategy play a key role in meeting the requirements. Traditionally, control design has come in at a later stage of the development process, when the system design is almost frozen. Furthermore, transient performance requirements have not always been considered adequately at early design stages for large engines, thus limiting achievable controller performance. With rapid advances in engine modeling capability, it has now become possible to accurately simulate engine behavior in steady-states and transients. In this paper, we propose an integrated model-based approach to system design and control of reciprocating engines and outline ideas, processes, and real-world case studies for the same. Key benefits of this approach include optimized engine performance in terms of efficiency, transient response, emissions, system and cost optimization, and tools to evaluate various concepts before engine build thus leading to significant reduction in development time and cost.

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